User Manual

TMCM-3351 TMCL

™

Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26

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#include Interrupts.inc

VECT TI_TIMER0 , Timer0Irq

SGP TI_TIMER0 , 3, 1000

EI TI_TIMER0

EI TI_GLOBAL

3.5.7 New TMCL Commands

In order to make several operations easier, the following new commands have been introduced from

ﬁrmware version 1.11 on. Using these new commands many taks can be programmed in an easier way.

This can save some code, thus making a TMCL program shorter, faster and easier to understand.

Please note that these commands are not available on TMCM-3351 modules with ﬁrmware versions before

1.11. So please make sure that at least ﬁrmware version 1.11 is installed before using them.

New TMCL Commands

Mnemonic Command number Meaning

CALCVV 40 Calculate using two user variables

CALCVA 41 Calculate using a user variable and the accumulator

CALCAV 42 Calculate using the accumulator and a user variable

CALCVX 43 Calculate using a user variable and the X register

CALCXV 44 Calculate using the X register and a user variable

CALCV 45 Calculate using a user variable and a direct value

MVPA 46 Move to position speciﬁed by accumulator

MVPXA 47 Move to position speciﬁed by accumulator and X register

RST 48 Restart the program

DJNZ 49 Decrement and jump if not zero

CALL 80 Conditional subroutine call

ROLA 50 Rotate left using the accumulator

RORA 51 Rotate right using the accumulator

ROLXA 52 Rotate left using accumulator and X register

RORXA 53 Rotate right using accumulator and X register

MSTX 54 Stop motor speciﬁed by X register

SAPX 16 Set axis parameter, axis speciﬁed by X register

GAPX 17 Get axis parameter, axis speciﬁed by X register

AAPX 18 Copy accumulator to an axis parameter, axis speciﬁed by X register

SIV 55 Set indexed variable

GIV 56 Get indexed variable

AIV 57 Accu to indexed variable

Table 13: New TMCL Commands

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